6.
Morphing concept
In a bi-morph configuration, substantial bending
deflection can be obtained with the MFC actuators
This bending behavior is suitable for aerodynamic
control
Positive Actuation
Negative Actuation
6

7.
The original morphing aircraft
design proved the concept
The 2007 aircraft design was originally created to explore
both pitch and roll control using MFC technology
Goal was to achieve high efficiency and high bandwidth
It flew, but barely!
7

8.
A study was conducted to determine
better morphing configurations
2-D wind tunnel testing was conducted on a variety of morphing
configurations to find an optimal design
One thick wing design is a thin morphing
surface with a bottom wiper that maintains
contact with the top surface
8

11.
Hysteresis Modeling
Inverse Hysteresis Operator (IHOp) used to provide feed-forward
control for MFC operation
It basically curve fits the forward and backward linear functions to
compensate for MFC behavior
Without IHOp the pilot has a difficult time controlling the aircraft
Command
11

12.
High voltage conversion
Custom electronics used to power the MFC actuators were developed via a
Phase II SBIR with AVID LLC
The high-voltage system is designed to power 2 bi-morphs
Command
IHOp
compensation
2-bimorph HV converter
12

13.
Full wing morphing
UAV applications in targeting can benefit from high bandwidth,
agile handling
Servo driven ailerons lack reliability and can be difficult to integrate
into a thin wing
What if we could simultaneously achieve camber change and a
delta angle of attack to achieve higher roll rates?
Conventional controls
Wing morphing achieved with
piezoceramic actuators
13

14.
Full wing morphing
Entire wing planform morphs instead of discrete control surfaces
Simulations in FEA performed to determine best configurations
Performance confirmed in flight test with roll doublets
14

20.
Imaging Payload
The payload developed for the project uses a multi-spectral
camera to gather images in both the Visible and Near-Infrared
bands.
Payload
Visible
NIR
On-board
Computer
Camera
(JAI AD080 GE)
Switch
Images from both spectrums will be combined with software to estimate crop health.
20

21.
Flight tests at Kentland Farms
The purpose of the flight was to determine the applicability
of unmanned aircraft for crop health monitoring
Corn was chosen as
the crop for initial
testing
Yamaha RMAX
carries EO and NIR
cameras
21

22.
Ground Image Segmentation &
Results
A two stage segmentation process was used to isolate the corn from
background, and then NDVI was used to examine the N effect on yield
GNDVI
Mask
NDVI
Final Image
22
Copyright 2013, Donald Rogers

24.
Grain Yield Correlations
Grain yield totals were measured for each N rate treatment after
harvest and compared to the calculated average NDVI.
A correlation is observed with
NDVI suggesting yield
estimation is possible for HR
hybrid
Weaker correlation with AM
hybrid due to on outlier
The system has the potential for estimating grain yield
24
Copyright 2013, Donald Rogers

25.
Tobacco Imaging Study
This series of flights performed in September on late season
tobacco were intended to explore the use of several sensors:
Ultraviolet (300 – 400 nm)
Visible (400 – 700 nm)
Near Infrared (700 – 1000 nm)
Long wave IR (8000 – 12,000 nm)
Flight tests were in partnership with
American Aerospace Advisors, Inc.
RMAX flown near South Hill, VA
under COA authorization
25
Copyright 2013, Donald Rogers

26.
Tobacco Survey Results
Two neighboring 8-row blocks appeared to have different levels of
growth (most likely, different hybrids)
NDVI for the 1st 8 rows = 0.209
NDVI for the 2nd 8 rows = 0.195
Although the NDVI levels are overall low (as expected due to a large
number of bleached leaves), the results still show a significant difference.
Visible
NDVI
26

28.
Leaf Segmentation Results
The leaf segmentation method was successful in isolating both
groups of tobacco leaves from each other and background noise.
Original Image
Green Leaves Only
Bleached Leaves Only
200628 pixels
49362 pixels
Trial segmentation results provided us with a
estimate of bleached leaf concentration –
useful to determine time of harvest
28
Copyright 2013, Donald Rogers

31.
Stereovision Basics
Stereovision is 3D mapping technique that utilizes two or more
cameras, which are separated by some distance, to determine
point correspondences in 3D.
Image from Bradski and Kaehler
31

32.
Stereovision Basics
The vertical resolution of the 3D points is directly related to the
distance between the cameras and the distance from the
cameras to the observed objects.
Resolution for 1.5 m baseline and focal
length of 8mm for 1600x1200images at
the center of image.(X = Y = 0)
While geo-referencing a single pair of
images is easy, area scans pose a challenge
32

33.
Application
• A 5’ baseline system is currently
used for aerial imagery on the
RMAX
• Methods developed to correct for
vibration-induced errors
• Images are acquired with 80%
overlap to generate 3-D terrain
mosaics
33

41.
Training and classification
Use of k-means clustering breaks the scene
into 3D “super voxels” based on location only
Further classification occurs on the super
voxels for point-ness, linear-ness and
surface-ness
Height is added as a feature
A conditional random field (CRF) is used as
the framework for training
Supervoxels are then grouped from training
into the following classes:
Poles
Ground
Buildings
Vehicles
41

42.
The resulting classification
has many uses
Provides spatially relevant data to support other analyses
Ecosystem health
monitoring
Number of damaged buildings,
roads post-hurricane
42

46.
Radiation detection mission
June, 2010 test: Successfully mapped single
and multiple omni-sources at Savannah River
National Labs at 40 m and 60 m AGL
The RMAX flew 6 hours
in three days of
mapping in 98º F heat –
only a single software
update had to be made
during the radiation
mapping missions
which resulted in a 20
minute delay
Single and dual radiation source maps (Sandia NL)
46

48.
Radiation detection mission
An optional radiation localization flight can be performed to
more accurately locate a source of radiation
PID-implemented contour
following to localize sources
Particle filter method used to
localize a single source
12
48

49.
Ground sample collection
robot
A helicopter-deployed ground sampling robot was developed to retrieve
radioactive samples
Both chunk and particulate samples have been considered for collection
The system (robot and winch) weigh 10 kg
Tether deployment from the helicopter allows pinpoint
delivery of sampling assets
+
=
49

51.
Intelligent radio repeating
using mapped terrain and A*
Note: The blue lines denote the strongest radio link. Notice how the best link is the radio repeating
link between the ground robot, helicopter, and ground robot.
51

52.
Intelligent radio repeating
using mapped terrain and A*
Note: The blue lines denote the strongest radio link. Notice how the best link is the radio repeating
link between the ground robot, helicopter, and ground robot.
52

53.
Test data – Intelligent radio
repeating
53

54.
Conclusions
The positive uses of UA will be adopted by
a suspicious public (as all promising
technologies have been adopted in the
past)
UA toys will outrun any other attempt at
promotion of the technology
UA have become the future of aviation and
can co-exist and support manned flight
operations